The monastery was founded in 1147 under the auspices of the first Cistercian pope, Eugenius III. The main church, built in a style transitional from Romanesque to Gothic, was consecrated in 1178 by Arnold, Bishop of Speyer. A number of other buildings — infirmary, refectory, cellar, auditorium, porch, south cloister, hall, another refectory, forge, inn, cooperage, mill, and chapel — followed in the course of the 13th century. The west, east and north cloisters date back to the 14th century, as do most fortifications and the fountain house or lavatorium.

In 1630, the abbey was returned to the Cistercians by force of arms, with Christoph Schaller von Sennheim becoming abbot. This restoration was short-lived, however, as Gustavus Adolphus of Sweden forced the monks to leave again two years later, with a Protestant abbot returning in 1633; the seminary reopened the following year, however the Cistercians under Schaller also returned in 1634. Under the Peace of Westphalia, in 1648, the confession of the monastery was settled in favour of Protestantism; with abbot Buchinger withdrawing in process. A Protestant abbacy was re-established in 1651, with the seminary reopening five years later. In 1692, the seminarians were removed to safety when Ezéchiel du Mas, Comte de Mélac, torched the school, which remained closed for a decade.

The monastery, which features prominently in Hermann Hesse's novel Beneath the Wheel, was inscribed on the World Heritage List in 1993. The justification for the inscription was as follows: "The Maulbronn complex is the most complete survival of a Cistercian monastic establishment in Europe, in particular because of the survival of its extensive water-management system of reservoirs and channels". Hesse himself attended the monastery before fleeing in 1891 after a suicide attempt, and a failed attempt to save Hesse from his personal religious crisis by a well-known theologian and faith healer.[1]

An image of Maulbronn Monastery is set to appear representing Baden-Württemberg on the obverse of the 2013 €2 commemorative coin for Germany.